WHEEL TRACK DEVICE FOR AUTONOMOUS DRIVING, APPLICABLE TO VARIOUS DRIVING ENVIRONMENTS INSIDE PIPES, AND DRIVING ROBOT HAVING SAME TO REGENERATE SUPERANNUATED PIPES

摘要

The present invention relates to a wheel track device for autonomous driving, applicable to various driving environments inside the pipes, and a driving robot having the same to regenerate superannuated pipes. The wheel track device, included in a body frame equipped with various devices for a regeneration work and constituting a body running inside a superannuated pipe, comprises: a wheel bracket to support wheels formed on one of both sides of the body frame, and freely rotates based on a rotational axis including a relative-rotatable bearing; a track part including two or more wheels combined with the wheel bracket to support wheels, and a caterpillar extended to surround the circumferences of two or more wheels; and a driving motor to rotate a driving wheel which operates the caterpillar of the track part from among the two or more wheels combined with the wheel bracket to support the wheels. Accordingly, the wheel track device can easily be attached/detached to/from the body, and moves freely in accordance to a status of the contact surface of the inside of the pipe by including the wheel bracket to support the wheels composed of separate components which are freely rotated without being tightly fixated to the frame constituting the body, and improves steering capability and driving capability and facilitates maintenance. Furthermore, since the wheel track device does not require a complicated mechanical configuration necessary for a conventional body frame, the wheel track device can be designed in low rigidity and weight, thereby reducing the manufacturing and operating costs.;COPYRIGHT KIPO 2015